3 citations · 4 across the 8 of their papers we have counts for
5 papers · 1 filter
Iterative State- and Control-Dependent Model Predictive Control: A Jacobian-Free Formulation for Constrained Nonlinear Systems
Mohammadreza Kamaldar
This paper presents an iterative model predictive control algorithm that stabilizes constrained nonlinear systems without evaluating a single plant derivative. By factoring the exa…
Deterministic Non-Smooth Safety via Dual-Algebraic Control Barrier Functions
Mohammadreza Kamaldar
This paper presents a dual-algebraic framework for control barrier functions (CBFs) that guarantees deterministic execution using exclusively elementary arithmetic. We develop this…
Extracting Exact Lie Derivatives Without Backpropagation: A Dual Compiler for Neural Control Barrier Functions
Mohammadreza Kamaldar
A safety filter based on a neural control barrier function (CBF) deployed in an embedded control loop evaluates, at each control cycle, the trained network and its Lie derivatives…
Nonlinear Moving-Horizon Estimation Using State- and Control-Dependent Models
Mohammadreza Kamaldar
This paper presents a state- and control-dependent moving-horizon estimation (SCD-MHE) algorithm for nonlinear discrete-time systems. The nonlinear dynamics and measurement maps ar…
Composite Adaptive Control Barrier Functions for Safety-Critical Systems with Parametric Uncertainty
Mohammadreza Kamaldar
Control barrier functions guarantee safety but require accurate system models; parametric uncertainty invalidates these guarantees. Existing robust methods maintain safety via wors…